version: 66.06
glider: 1
mission: 14
dive: 148
start: 10 24 109 1 8 57
data:
$ID,1
$MISSION,14
$DIVE,148
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,3
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-222497.8
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,2
$R_STBD_OVSHOOT,2
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,83.275681
$FG_AHR_24V,4.6384411
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,010928,6655.046,-5838.653,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,011702,6654.976,-5838.658,38,1.1,38,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.104,-0.209
$KALMAN_X,-5874.2,877.4,1260.7,-6511.0,4270.2
$KALMAN_Y,81210.3,-360.8,-623.8,-75899.1,6521.1
$MHEAD_RNG_PITCHd_Wd,135.7,374272,-13.0,-7.021
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-58.55,0.000,2,0.000,0.000,439,1695,2358,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.1,-1.4,12,134,10.40,1.90,-24.38,0.000,4,0.000,0.000,2570,498,3103,11,0,9,0,0,0
$GC,273,-0.69,-146.6,22.1,-13.5,44,280,0.00,2.55,0.00,0.007,6,0.007,0.000,2569,2200,3102,0,0,13,0,0,0
$GC,470,-0.69,-146.6,40.3,-8.2,63,486,0.00,3.28,0.00,0.007,4,0.007,0.000,2572,290,3102,0,0,19,0,0,0
$GC,682,-0.69,-146.6,55.4,-7.9,81,691,0.00,3.65,0.00,0.007,6,0.007,0.000,2566,2553,3106,0,0,21,0,0,0
$GC,1015,-0.69,-146.6,79.8,-7.7,113,1020,0.00,2.03,0.00,0.007,4,0.000,0.000,2571,3635,3105,0,0,11,0,0,0
$GC,1126,-0.69,-146.6,89.9,-9.7,122,1133,0.00,3.40,0.00,0.007,6,0.007,0.000,2570,1757,3094,0,0,19,0,0,0
$GC,1458,-0.69,-146.6,118.6,-7.3,154,1460,0.00,0.00,0.00,0.007,6,0.007,0.007,2569,1756,3104,0,0,0,0,0,0
$GC,1779,-0.69,-146.6,137.7,-5.7,184,1781,0.00,0.00,0.00,0.007,6,0.000,0.007,2570,1758,3102,0,0,0,0,0,0
$GC,2097,-0.69,-146.6,157.2,-7.0,214,2099,0.00,0.00,0.00,0.007,6,0.007,0.000,2571,1745,3103,0,0,0,0,0,0
$GC,2415,-0.69,-146.6,181.8,-8.4,244,2431,0.00,2.78,0.00,0.007,4,0.007,0.000,2571,296,3102,0,0,14,0,0,0
$GC,2683,-0.77,-146.6,203.7,-7.6,267,2693,0.30,3.38,0.00,0.007,6,0.000,0.001,2486,2196,3103,1,0,15,0,0,0
$GC,3018,-0.82,-146.6,227.5,-6.3,299,3021,0.28,0.00,0.00,0.007,6,0.000,0.000,2594,2195,3104,0,0,0,0,0,0
$GC,3337,-0.71,-146.6,249.6,-7.0,329,3344,0.52,2.38,0.00,0.007,4,0.000,0.000,2449,3705,3106,1,0,11,0,0,0
$GC,3470,-0.83,-146.6,258.0,-4.9,340,3487,0.50,3.38,0.00,0.007,6,0.000,0.000,2579,1860,3102,1,0,17,0,0,0
$GC,3801,-0.71,-146.6,276.8,-7.2,371,3816,0.32,2.65,0.00,0.000,4,0.018,0.000,2443,385,3105,1,0,16,0,0,0
$GC,4068,-0.66,-146.6,297.0,-6.9,394,4080,0.75,3.05,0.00,0.007,6,0.000,0.001,2638,2176,3104,1,0,15,0,0,0
$GC,4405,-0.66,-146.6,318.3,-6.4,426,4421,0.62,2.90,0.00,0.007,4,0.000,0.000,2506,430,3103,2,0,16,0,0,0
$GC,4444,-0.66,-146.6,320.9,-6.7,429,4460,0.32,3.70,0.00,0.007,6,0.007,0.000,2550,2457,3102,1,0,19,0,0,0
$GC,4773,-0.66,-146.6,345.4,-7.4,460,4790,0.00,4.05,0.00,0.007,4,0.007,0.000,2548,383,3102,0,0,23,0,0,0
$GC,4851,-0.72,-146.6,351.2,-7.2,466,4858,0.00,3.17,0.00,0.007,6,0.007,0.000,2547,2122,3102,0,0,16,0,0,0
$GC,5176,-0.78,-146.6,373.9,-6.7,497,5178,0.00,0.00,0.00,0.000,6,0.007,0.007,2549,2119,3101,0,0,0,0,0,0
$GC,5497,-0.65,-146.6,395.2,-8.0,527,5499,0.00,0.00,0.00,0.007,6,0.007,0.000,2549,2121,3103,0,0,0,0,0,0
$GC,5815,-0.83,-146.6,418.3,-4.9,557,5827,0.30,0.00,0.00,0.007,6,0.007,0.007,2465,2115,3104,1,0,0,0,0,0
$GC,6142,-0.79,-146.6,435.0,-6.6,588,6145,0.65,0.00,0.00,0.007,6,0.000,0.000,2580,2113,3104,1,0,0,0,0,0
$GC,6459,-0.79,-146.6,457.6,-6.6,618,6463,0.57,0.00,0.00,0.007,6,0.000,0.007,2421,2114,3103,2,0,0,0,0,0
$GC,6778,-0.79,-146.6,477.8,-6.6,648,6782,0.75,0.00,0.00,0.007,6,0.000,0.007,2587,2111,3105,2,0,0,0,0,0
$GC,7096,-0.79,-146.6,497.0,-5.8,678,7100,1.08,0.00,0.00,0.000,6,0.006,0.007,2450,2117,3105,3,0,0,0,0,0
$GC,7415,-0.87,-146.6,513.1,-4.7,708,7432,0.43,3.28,0.00,0.007,4,0.000,0.000,2551,391,3102,1,0,16,0,0,0
$GC,7501,-0.76,-146.6,518.5,-6.8,715,7515,0.00,3.15,0.00,0.007,6,0.007,0.000,2557,2125,3104,0,0,14,0,0,0
$GC,7831,-0.84,-146.6,540.1,-5.4,746,7834,0.45,0.00,0.00,0.007,6,0.000,0.007,2449,2123,3101,1,0,0,0,0,0
$GC,8148,-0.93,-146.6,556.8,-5.1,776,8166,0.43,3.45,0.00,0.007,4,0.007,0.000,2578,192,3102,1,0,22,0,0,0
$GC,8419,-1.01,-146.6,571.3,-6.7,799,8429,0.57,3.78,0.00,0.007,6,0.000,0.000,2419,2539,3099,2,0,22,0,0,0
$GC,8755,-1.06,-146.6,589.4,-4.9,831,8771,0.28,3.78,0.00,0.007,4,0.000,0.000,2523,353,3103,0,0,19,0,0,0
$GC,8798,-1.06,-146.6,591.8,-5.2,834,8809,0.47,3.83,0.00,0.007,6,0.000,0.000,2440,2458,3103,1,0,22,0,0,0
$GC,9134,-1.06,-146.6,609.8,-5.6,866,9138,0.35,0.00,0.00,0.007,6,0.000,0.000,2569,2464,3098,1,0,0,0,0,0
$GC,9452,-1.06,-146.6,628.6,-6.0,896,9455,0.50,0.00,0.00,0.000,6,0.000,0.007,2444,2466,3106,1,0,0,0,0,0
$GC,9771,-1.06,-146.6,648.0,-5.6,926,9774,0.35,0.00,0.00,0.000,6,0.007,0.007,2525,2461,3104,1,0,0,0,0,0
$GC,10089,-1.06,-146.6,665.2,-5.5,956,10104,0.57,3.53,0.00,0.007,4,0.000,0.000,2427,383,3100,2,0,21,0,0,0
$GC,10356,-1.06,-146.6,680.6,-5.8,979,10364,0.35,3.08,0.00,0.007,6,0.007,0.000,2535,2310,3104,1,0,16,0,0,0
$GC,10689,-1.16,-146.6,697.2,-4.9,1011,10693,0.55,0.00,0.00,0.007,6,0.024,0.007,2418,2300,3107,1,0,0,0,0,0
$GC,11007,-1.07,-146.6,716.9,-6.5,1041,11011,0.43,0.00,0.00,0.007,6,0.007,0.007,2499,2305,3103,1,0,0,0,0,0
$GC,11325,-1.07,-146.6,734.6,-5.7,1071,11328,0.45,0.00,0.00,0.007,6,0.000,0.007,2386,2311,3104,1,0,0,0,0,0
$GC,11644,-1.07,-146.6,753.4,-6.0,1101,11648,0.85,0.00,0.00,0.007,6,0.000,0.000,2604,2308,3105,2,0,0,0,0,0
$GC,11963,-1.02,-146.6,773.8,-6.3,1131,11967,0.93,0.00,0.00,0.007,6,0.000,0.007,2396,2310,3102,1,0,0,0,0,0
$GC,12281,-1.10,-146.6,792.6,-5.8,1161,12297,0.52,3.38,0.00,0.007,4,0.007,0.000,2532,402,3106,0,0,14,0,0,0
$GC,12426,-0.99,-146.6,801.2,-6.3,1173,12436,0.85,3.15,0.00,0.007,6,0.000,0.000,2391,2054,3105,3,0,17,0,0,0
$GC,12761,-0.99,-146.6,823.9,-5.6,1205,12765,0.65,0.00,0.00,0.007,6,0.000,0.007,2508,2045,3103,2,0,0,0,0,0
$GC,13080,-0.99,-146.6,841.4,-5.6,1235,13096,0.50,2.78,0.00,0.007,4,0.007,0.000,2390,302,3103,1,0,15,0,0,0
$GC,13348,-0.99,-146.6,856.4,-5.7,1258,13359,0.47,3.42,0.00,0.007,6,0.000,0.000,2516,2333,3104,1,0,18,0,0,0
$GC,13683,-0.99,-146.6,875.1,-5.6,1290,13699,0.62,3.33,0.00,0.007,4,0.000,0.000,2345,469,3101,2,0,19,0,0,0
$GC,13952,-0.93,-146.6,890.9,-5.8,1313,13962,0.80,2.97,0.00,0.007,6,0.000,0.000,2538,2291,3104,1,0,16,0,0,0
$STATE,14114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14114,begin apogee
$GC,14123,-0.31,0.0,900.5,5.2,1329,14272,0.52,0.00,138.82,0.000,6,0.000,0.007,2687,1771,2532,0,0,0,0,1,0
$STATE,14275,end apogee,CONTROL_FINISHED_OK
$STATE,14275,begin climb
$GC,14277,0.99,146.6,908.4,0.0,1344,14438,1.17,0.00,148.15,0.000,6,0.000,0.007,2956,1770,1918,0,0,0,0,0,0
$GC,14755,2.52,523.8,934.3,-5.1,1390,15123,1.67,0.00,320.20,0.000,6,0.000,0.007,3315,1772,615,2,0,0,0,6,0
$GC,15438,3.98,889.5,973.4,-4.7,1456,15453,0.00,0.00,4.20,0.000,6,0.000,0.007,3318,1770,611,0,0,0,0,0,0
$GC,15767,4.17,1048.1,983.1,1.9,1487,15774,0.00,2.40,0.12,0.000,4,0.007,0.000,3314,217,609,0,0,14,0,0,0
$GC,15808,3.86,1091.5,980.9,5.6,1490,15824,0.00,4.03,0.15,0.000,6,0.007,0.000,3315,2196,609,0,0,21,0,0,0
$GC,16138,3.98,1123.0,953.9,6.0,1521,16153,0.00,0.00,3.92,0.000,6,0.007,0.007,3317,2202,601,0,0,0,0,0,0
$GC,16467,4.25,1175.3,932.6,5.3,1552,16483,0.00,4.00,0.12,0.007,4,0.007,0.000,3318,361,600,0,0,20,0,0,0
$GC,16529,4.67,1228.0,929.0,5.3,1557,16545,0.00,3.40,0.60,0.000,6,0.007,0.000,3313,2394,592,0,0,18,0,0,0
$GC,16858,4.57,1228.0,900.6,8.1,1588,16874,0.00,4.10,0.12,0.000,4,0.007,0.000,3318,428,599,0,0,20,0,0,0
$GC,17127,4.69,1265.4,883.7,5.8,1611,17137,0.00,3.67,0.47,0.000,6,0.007,0.000,3318,2162,598,0,0,19,0,0,0
$GC,17462,4.58,1265.4,853.4,9.2,1643,17477,0.00,3.03,0.12,0.007,4,0.007,0.000,3316,3758,600,0,0,19,0,0,0
$GC,17511,4.58,1265.4,849.3,8.1,1647,17527,0.00,3.78,0.20,0.007,6,0.007,0.000,3318,1961,605,0,0,22,0,0,0
$GC,17841,4.68,1280.2,828.1,6.5,1678,17857,0.00,4.18,0.12,0.007,4,0.000,0.000,3319,271,614,0,0,26,0,0,0
$GC,17992,4.59,1280.2,814.7,10.0,1691,18008,0.00,4.40,0.03,0.007,6,0.007,0.000,3315,2054,603,0,0,25,0,0,0
$GC,18322,4.70,1292.6,787.6,6.6,1722,18339,0.00,3.78,0.12,0.007,4,0.007,0.000,3314,547,604,0,0,25,0,0,0
$GC,18536,4.78,1292.6,773.2,7.6,1740,18546,0.00,2.88,1.60,0.000,6,0.007,0.000,3317,2232,599,0,0,16,0,0,0
$GC,18871,4.83,1292.6,749.4,8.3,1772,18878,0.00,2.70,0.12,0.007,4,0.000,0.000,3318,3466,601,0,0,15,0,0,0
$GC,18901,4.64,1292.6,746.1,11.0,1774,18918,0.00,3.55,0.45,0.007,6,0.007,0.000,3319,1831,595,0,0,19,0,0,0
$GC,19232,4.64,1292.6,722.5,7.1,1805,19249,0.00,3.03,0.12,0.007,4,0.007,0.000,3315,3601,601,0,0,18,0,0,0
$GC,19273,4.64,1292.6,719.1,9.2,1808,19290,0.00,2.90,1.12,0.000,6,0.007,0.000,3318,1924,598,0,0,16,0,0,0
$GC,19604,3.92,1292.6,641.8,26.3,1839,19611,0.00,2.45,0.12,0.000,4,0.007,0.000,3318,432,602,0,0,13,0,0,0
$GC,19719,3.92,1292.6,626.4,8.9,1848,19729,0.00,2.62,1.60,0.000,6,0.007,0.000,3322,2139,600,0,0,9,0,0,0
$GC,20053,3.84,1292.6,594.0,9.2,1880,20060,0.00,2.38,0.12,0.007,4,0.007,0.000,3315,3566,599,0,0,12,0,0,0
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$STATE,26788,begin surface coast
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$XPDR_PINGS,-1
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$10V_AH,10.7,43.211
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,83.520
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,337984
$DATA_FILE_SIZE,84899,2512
$CAP_FILE_SIZE,299552,8
$CFSIZE,260165632,239804416
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,73,1397,7,0
$SOUNDSPEED,1460.5
$GPS,241009,084907,6655.083,-5833.028,31,1.1,31,18.0